{"id":346113,"date":"2024-10-30T13:31:45","date_gmt":"2024-10-30T04:31:45","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=346113"},"modified":"2024-11-01T14:19:44","modified_gmt":"2024-11-01T05:19:44","slug":"unitree-go2_make_new_program","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_make_new_program.html","title":{"rendered":"[Unitree Go2]ROS2\u3092\u7528\u3044\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u4f5c\u6210\uff08\u56de\u8ee2\uff09"},"content":{"rendered":"<header><\/header>\n<div class=\"entry-content\" itemprop=\"articleBody\">\n<div id=\"toc_container\" class=\"toc_light_blue no_bullets\">\n<p>&nbsp;<\/p>\n<\/div>\n<h4><span id=\"1\"><span id=\"env\"><strong>1. \u306f\u3058\u3081\u306b<\/strong><\/span><\/span><\/h4>\n<hr \/>\n<p><b>Unitree Go2<\/b>\u306f\u4e8c\u6b21\u958b\u767a\u53ef\u80fd\u306a\u88fd\u54c1\u3068\u3057\u3066\u5f0a\u793e\u3067\u3082\u53d6\u308a\u6271\u3063\u3066\u3044\u308b\u30e2\u30c7\u30eb\u3067\u306f\u3054\u3056\u3044\u307e\u3059\u304c\u3001\u5b9f\u969b\u306b\u4e8c\u6b21\u958b\u767a\u3092\u884c\u3046\u3068\u3057\u3066\u3001\u77e5\u8b58\u306e\u306a\u3044\u65b9\u304b\u3089\u3059\u308b\u3068\u969c\u5bb3\u304c\u591a\u3044\u3068\u601d\u308f\u308c\u307e\u3059\u3002\u672c\u8a18\u4e8b\u3067\u306f\u305d\u3093\u306a\u65b9\u3092\u5bfe\u8c61\u306b\u4f55\u3068\u306a\u304f\u308f\u304b\u3063\u305f\u6c17\u306b\u306a\u308c\u308b\u7a0b\u5ea6\u306e\u77e5\u8b58\u306e\u5171\u6709\u3092\u76ee\u7684\u3068\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u3053\u3046\u3044\u3063\u305f\u7406\u7531\u304b\u3089\u4eca\u56de\u306fSDK\u306e\u4e00\u90e8\u306b\u8ffd\u52a0\u3059\u308b\u5f62\u3067\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u4f5c\u6210\u3044\u305f\u3057\u307e\u3059\u3002<\/p>\n<\/div>\n<div class=\"entry-content\" itemprop=\"articleBody\">\n<h4><span id=\"2\"><span id=\"env\"><strong>2. \u74b0\u5883<\/strong><\/span><\/span><\/h4>\n<hr \/>\n<p><span>\u672c\u8a18\u4e8b\u3067\u306fUnitree Go2\u306edocking station\u306b\u30ea\u30e2\u30fc\u30c8\u30ed\u30b0\u30a4\u30f3\u3059\u308b\u3053\u3068\u3067\u5b9f\u884c\u3057\u3066\u304a\u308a\u307e\u3059\u3002<br \/>\n\u305d\u306e\u5834\u5408github\u304b\u3089\u30d5\u30a1\u30a4\u30eb\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\u306e\u3067\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u306b\u63a5\u7d9a\u3059\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3059\u3002<br \/>\n<\/span>\u30e1\u30fc\u30ab\u30fc\u8a18\u4e8b\u3067\u306f\u4e0b\u8a18\u74b0\u5883\u306e\u6a5f\u5668\u3092\u7528\u3044\u3066\u306e\u5b9f\u884c\u3068\u306a\u3063\u3066\u304a\u308a\u307e\u3059\u3002<br \/>\nOS:Linux 20.04<br \/>\n\uff08\u4ee5\u4e0b\u5fc5\u9808\u3067\u306f\u306a\u3044\uff09<br \/>\n\u307e\u305f\u3001\u4f5c\u696d\u74b0\u5883\u3068\u3057\u3066\u3001\u306a\u306b\u304b\u3057\u3089\u30c6\u30ad\u30b9\u30c8\u30a8\u30c7\u30a3\u30bf\u304c\u3042\u308b\u3068\u7de8\u96c6\u3057\u3084\u3059\u304f\u306a\u308a\u307e\u3059\u3002<br \/>\n\u5f0a\u793e\u793e\u54e1\u306f&#8221;Visual Studio Code&#8221;\u3092\u4f7f\u7528\u3057\u3066\u3044\u307e\u3059\u3002<br \/>\n\u3053\u308c\u306b\u62e1\u5f35\u6a5f\u80fd\u3068\u3057\u3066&#8221;C\/C++&#8221;\u3068&#8221;Remote SSH&#8221;\u3092\u5c0e\u5165\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<h4><span id=\"3\"><span id=\"setup\"><strong>3. ROS2\u3068\u306f<\/strong><\/span><\/span><\/h4>\n<p>ROS2\uff08Robot Operating System 2\uff09\u306f\u3001\u30ed\u30dc\u30c3\u30c8\u306e\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u958b\u767a\u3092\u652f\u63f4\u3059\u308b\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u3059\u3002<\/p>\n<\/div>\n<div class=\"entry-content\" itemprop=\"articleBody\">ROS1\u306e\u5f8c\u7d99\u3067\u3001ROS1\u3088\u308a\u3082\u5b89\u5168\u6027\u3001\u6027\u80fd\u3001\u30b9\u30b1\u30fc\u30e9\u30d3\u30ea\u30c6\u30a3\u304c\u5411\u4e0a\u3057\u3066\u3044\u307e\u3059\u3002<\/div>\n<div class=\"entry-content\" itemprop=\"articleBody\">\u3053\u308c\u3092\u4f7f\u3046\u3068\u4ee5\u4e0b\u306e\u70b9\u3067\u3046\u308c\u3057\u3044\u3067\u3059\u3002<\/div>\n<div itemprop=\"articleBody\">\n<ul>\n<li><strong>\u30de\u30eb\u30c1\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u5bfe\u5fdc<\/strong>: Linux\u3001Windows\u3001macOS\u3067\u52d5\u4f5c\u3057\u307e\u3059\u3002<\/li>\n<li><strong>\u5206\u6563\u30b7\u30b9\u30c6\u30e0<\/strong>: \u8907\u6570\u306e\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u9593\u3067\u51e6\u7406\u3092\u5206\u62c5\u3067\u304d\u307e\u3059\u3002<\/li>\n<li><strong>\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u5bfe\u5fdc<\/strong>: \u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306e\u30c7\u30fc\u30bf\u51e6\u7406\u304c\u53ef\u80fd\u3067\u3059\u3002<\/li>\n<\/ul>\n<\/div>\n<div class=\"entry-content\" itemprop=\"articleBody\">\u8a73\u3057\u3044\u3053\u3068\u306f\u8abf\u3079\u308b\u3068\u3044\u308d\u3044\u308d\u306a\u8a18\u4e8b\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u4eca\u56de\u306f\u3053\u306e\u7a0b\u5ea6\u306e\u7406\u89e3\u3067\u554f\u984c\u306a\u3044\u3067\u3059\u3002<\/div>\n<div class=\"entry-content\" itemprop=\"articleBody\">\u4ee5\u4e0b\u7528\u8a9e\u3068\u3057\u3066\u3053\u308c\u3089\u3092\u7528\u3044\u307e\u3059\u3002<\/div>\n<div class=\"entry-content\" itemprop=\"articleBody\">\n<ul>\n<li><strong>\u30ce\u30fc\u30c9\uff08Node\uff09<\/strong>: \u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u80fd\u3092\u5206\u5272\u3057\u305f\u5c0f\u3055\u306a\u30d7\u30ed\u30b0\u30e9\u30e0\u3002\u305d\u308c\u305e\u308c\u304c\u901a\u4fe1\u3057\u3066\u5354\u529b\u3057\u5408\u3044\u307e\u3059\u3002<\/li>\n<li><strong>\u30c8\u30d4\u30c3\u30af\uff08Topic\uff09<\/strong>: \u30ce\u30fc\u30c9\u9593\u3067\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u3084\u308a\u53d6\u308a\u3059\u308b\u305f\u3081\u306e\u30c1\u30e3\u30cd\u30eb\u3002\u4f8b\u3048\u3070\u3001\u30bb\u30f3\u30b5\u30fc\u304b\u3089\u306e\u30c7\u30fc\u30bf\u3092\u9001\u4fe1\u3057\u307e\u3059\u3002<\/li>\n<li><strong>\u30b5\u30fc\u30d3\u30b9\uff08Service\uff09<\/strong>: \u8981\u6c42\u3068\u5fdc\u7b54\u306e\u5f62\u5f0f\u3067\u901a\u4fe1\u3059\u308b\u4ed5\u7d44\u307f\u3002\u7279\u5b9a\u306e\u51e6\u7406\u3092\u4f9d\u983c\u3057\u3001\u305d\u306e\u7d50\u679c\u3092\u53d7\u3051\u53d6\u308a\u307e\u3059\u3002<\/li>\n<li><strong>\u30a2\u30af\u30b7\u30e7\u30f3\uff08Action\uff09<\/strong>: \u9577\u6642\u9593\u304b\u304b\u308b\u30bf\u30b9\u30af\u306e\u305f\u3081\u306e\u901a\u4fe1\u5f62\u5f0f\u3002\u9032\u884c\u72b6\u6cc1\u306e\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3092\u53d7\u3051\u53d6\u308a\u306a\u304c\u3089\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002<\/li>\n<li><strong>\u30d1\u30c3\u30b1\u30fc\u30b8\uff08Package\uff09<\/strong>: \u30ce\u30fc\u30c9\u3001\u30e9\u30a4\u30d6\u30e9\u30ea\u3001\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306a\u3069\u306e\u95a2\u9023\u3059\u308b\u30d5\u30a1\u30a4\u30eb\u3092\u307e\u3068\u3081\u305f\u3082\u306e\u3002\u518d\u5229\u7528\u3084\u5171\u6709\u304c\u5bb9\u6613\u306b\u306a\u308a\u307e\u3059\u3002<\/li>\n<\/ul>\n<h5><span id=\"3-1\"><span id=\"MG400\"><strong>4.\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u69cb\u6210<\/strong><\/span><\/span><\/h5>\n<p>ROS2\u306e\u5b9f\u884c\u30d7\u30ed\u30b0\u30e9\u30e0\u306f\u5927\u307e\u304b\u306b\u4ee5\u4e0b\u306e\u69cb\u6210\u3067\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059<\/p>\n<p><strong>1.\u30d8\u30c3\u30c0\u30fc\u30d5\u30a1\u30a4\u30eb\u306e\u30a4\u30f3\u30af\u30eb\u30fc\u30c9(\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5916\u304b\u3089\u5fc5\u8981\u306a\u60c5\u5831\u3092\u5f15\u7528)<br \/>\n<\/strong><strong>2.\u30af\u30e9\u30b9\u306e\u5b9a\u7fa9\uff08\u6c7a\u3081\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u5024\u306e\u8a2d\u5b9a\uff09<br \/>\n<\/strong><strong>3.\u30e1\u30a4\u30f3\u95a2\u6570(\u5b9f\u969b\u306b\u3069\u3046\u3044\u3063\u305f\u52d5\u4f5c\u3092\u3059\u308b\u304b)<\/strong><\/p>\n<p>\u305d\u308c\u305e\u308c\u8eca\u3067\u8d70\u3089\u305b\u308b\u3053\u3068\u306b\u4f8b\u3048\u3064\u3064\u89e3\u8aac\u3057\u307e\u3059\u3002<\/p>\n<h6><strong>1.\u30d8\u30c3\u30c0\u30fc\u30d5\u30a1\u30a4\u30eb\u306e\u30a4\u30f3\u30af\u30eb\u30fc\u30c9(\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u5916\u304b\u3089\u5fc5\u8981\u306a\u60c5\u5831\u3092\u5f15\u7528)<\/strong><\/h6>\n<p>\u65b0\u3057\u3044\u30d7\u30ed\u30b0\u30e9\u30e0\u3092\u4f5c\u6210\u3059\u308b\u3068\u304d\u306b1\u304b\u3089\u7d30\u304b\u3044\u3068\u3053\u308d\u307e\u3067\u5b9a\u7fa9\u3059\u308b\u3068\u975e\u5e38\u306b\u9762\u5012\u3067\u3059\u3002\u305d\u306e\u624b\u9593\u3092\u7701\u304f\u305f\u3081\u306b\u3042\u308b\u7a0b\u5ea6\u4e00\u822c\u7684\u306a\u60c5\u5831\u306f\u3053\u3053\u306e\u90e8\u5206\u3067\u5916\u90e8\u304b\u3089\u5f15\u7528\u3057\u307e\u3059\u3002<\/p>\n<p>\u8eca\u3067\u4f8b\u3048\u308b\u3068\u3001\u5fc5\u8981\u306a\u90e8\u54c1\u3092\u96c6\u3081\u305f\u308a\u3057\u3066\u3044\u308b\u6bb5\u968e\u3067\u3059\u3002\u3059\u3067\u306b\u4f5c\u3089\u308c\u305f\u30a8\u30f3\u30b8\u30f3\u306e\u3088\u3046\u306a\u90e8\u54c1\u3092\u4f5c\u308b\u5fc5\u8981\u304c\u306a\u304f\u306a\u308a\u307e\u3059\u3002<\/p>\n<h6><strong>2.\u30af\u30e9\u30b9\u306e\u5b9a\u7fa9\uff08\u6c7a\u3081\u306a\u3051\u308c\u3070\u306a\u3089\u306a\u3044\u5024\u306e\u8a2d\u5b9a\uff09<\/strong><\/h6>\n<p>\u5b9f\u969b\u306b\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u52d5\u4f5c\u3092\u6c7a\u3081\u308b\u524d\u306b\u3069\u3046\u3044\u3063\u305f\u8981\u7d20\u3092\u3053\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u306b\u5165\u308c\u308b\u304b\u3092\u6c7a\u3081\u3066\u3044\u307e\u3059\u3002<\/p>\n<p>\u8eca\u3067\u4f8b\u3048\u308b\u3068\u3001\u300c\u8eca\u300d\u3068\u3044\u3046\u306e\u306f\u3069\u3046\u3044\u3063\u305f\u6a5f\u80fd\u304c\u3042\u308b\u3082\u306e\u3067\u3001\u3069\u3046\u3044\u3063\u305f\u898b\u305f\u76ee\u3092\u3057\u305f\u3082\u306e\u304b\u3068\u3044\u3046\u4ed5\u69d8\u3092\u5b9a\u7fa9\u3059\u308b\u300c\u8a2d\u8a08\u56f3\u300d\u306e\u3088\u3046\u306a\u3082\u306e\u3067\u3059\u3002<\/p>\n<h6><strong>3.\u30e1\u30a4\u30f3\u95a2\u6570(\u5b9f\u969b\u306b\u3069\u3046\u3044\u3063\u305f\u52d5\u4f5c\u3092\u3059\u308b\u304b)<\/strong><\/h6>\n<p>\u3053\u306e\u6bb5\u968e\u3067\u52d5\u4f5c\u3092\u3055\u305b\u308b\u6a5f\u80fd\u306f\u5b9a\u7fa9\u3055\u308c\u3066\u3044\u308b\u306e\u3067\u3069\u3046\u3044\u3063\u305f\u52d5\u4f5c\u3092\u3055\u305b\u308b\u304b\uff08GO2\u3067\u3044\u3046\u3068\u6b69\u304f\u5411\u304d\u3001\u901f\u3055\uff09\u7b49\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002\u57fa\u672c\u7684\u306b\u306fROS\uff12\u306e\u521d\u671f\u5316\u2192\u6307\u5b9a\u52d5\u4f5c\u306e\u5b9f\u884c\u2192ROS2\u306e\u7d42\u4e86\u3001\u3068\u3044\u3063\u305f\u6d41\u308c\u3067\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002<\/p>\n<p>\u8eca\u3067\u4f8b\u3048\u308b\u3068\u3001\u30a8\u30f3\u30b8\u30f3\u306e\u59cb\u52d5\u2192\u6307\u5b9a\u3055\u308c\u305f\u30eb\u30fc\u30c8\u3067\u8d70\u884c\u2192\u30a8\u30f3\u30b8\u30f3\u306e\u505c\u6b62\u3001\u3068\u3044\u3063\u305f\u6d41\u308c\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002<\/p>\n<p>\u5927\u4f53\u4e0b\u56f3\u306e\u30a4\u30e1\u30fc\u30b8\u3067\u3059\u3002<br \/>\n<img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/37ee5127aee436fcf901a9d07f998f38.png\" alt=\"\" width=\"1193\" height=\"584\" class=\"alignnone size-full wp-image-346248\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/37ee5127aee436fcf901a9d07f998f38.png 1193w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/37ee5127aee436fcf901a9d07f998f38-300x147.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/37ee5127aee436fcf901a9d07f998f38-1024x501.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/37ee5127aee436fcf901a9d07f998f38-768x376.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/37ee5127aee436fcf901a9d07f998f38-409x200.png 409w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/37ee5127aee436fcf901a9d07f998f38-426x209.png 426w\" sizes=\"auto, (max-width: 1193px) 100vw, 1193px\" \/><\/p>\n<h5>\uff15\u5b9f\u8df5\u7de8<\/h5>\n<h5>\u65b0\u898f\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u8ffd\u52a0<\/h5>\n<p>\u4e0b\u8a18URL\u3092\u57fa\u672c\u7684\u306b\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p><a href=\"https:\/\/github.com\/unitreerobotics\/unitree_ros2\">unitreerobotics\/unitree_ros2 (github.com)<\/a><\/p>\n<p>\u3054\u4f7f\u7528\u306e\u74b0\u5883\u3067\u30d5\u30a9\u30eb\u30c0\u3092\u7de8\u96c6\u3067\u304d\u308b\u6bb5\u968e(Install Unitree ROS2 package\u306e\u76f4\u524d)\u307e\u3067\u9032\u3081\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>1.\u30c6\u30ad\u30b9\u30c8\u30a8\u30c7\u30a3\u30bf\u7b49\u3092\u7528\u3044\u3066&#8221;unitree_ros2\/example\/src\/src&#8221;\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u65b0\u3057\u304f&#8221;.cpp&#8221;\u30d5\u30a1\u30a4\u30eb(\u672c\u8a18\u4e8b\u3067\u306ftest_move.cpp)\u3092\u4f5c\u6210\u3059\u308b<br \/>\n2.\u4e0b\u8a18\u30b3\u30fc\u30c9\u3092\u30b3\u30d4\u30fc&amp;\u30da\u30fc\u30b9\u30c8\u3059\u308b<\/p>\n<div class=\"hcb_wrap\">\n<pre class=\"prism lang-cpp\">\r\n<code>\r\n\r\n#include &lt;unistd.h&gt;\r\n#include &lt;cmath&gt;\r\n\r\n#include &quot;rclcpp\/rclcpp.hpp&quot;\r\n#include &quot;unitree_go\/msg\/sport_mode_state.hpp&quot;\r\n\r\n#include &quot;unitree_api\/msg\/request.hpp&quot;\r\n#include &quot;common\/ros2_sport_client.h&quot;\r\n\r\nusing std::placeholders::_1;\r\n\/\/ Create a soprt_request class for soprt commond request\r\nclass soprt_request : public rclcpp::Node\r\n{\r\npublic:\r\n    soprt_request() : Node(&quot;req_sender&quot;)\r\n    {\r\n        \/\/ the req_puber is set to subscribe &quot;\/api\/sport\/request&quot; topic with dt\r\n        req_puber = this-&gt;create_publisher&lt;unitree_api::msg::request&gt;(&quot;\/api\/sport\/request&quot;, 10);\r\n        timer_ = this-&gt;create_wall_timer(std::chrono::milliseconds(int(dt * 1000)), std::bind(&amp;soprt_request::timer_callback, this));\r\n    };\r\n\r\nprivate:\r\n    void timer_callback()\r\n    {\r\n            \/\/ Get request messages corresponding to high-level motion commands\r\n            sport_req.Move(req, 0.0, 0.0, 0.2);\r\n            \/\/ Publish request messages\r\n            req_puber-&gt;publish(req);\r\n    };\r\n\r\n    rclcpp::TimerBase::SharedPtr timer_; \/\/ ROS2 timer\r\n    rclcpp::Publisher&lt;unitree_api::msg::request&gt;::SharedPtr req_puber;\r\n\r\n    unitree_api::msg::Request req; \/\/ Unitree Go2 ROS2 request message\r\n    SportClient sport_req;\r\n\r\n    double dt = 0.002; \/\/control time step\r\n};\r\n\r\nint main(int argc, char *argv[])\r\n{\r\n    rclcpp::init(argc, argv); \/\/ Initialize rclcpp\r\n\r\n    rclcpp::spin(std::make_shared&lt;soprt_request&gt;()); \/\/Run ROS2 node\r\n\r\n    rclcpp::shutdown();\r\n    return 0;\r\n}\r\n\r\n\r\n\r\n<\/cmath><\/unistd.h><\/code><\/pre>\n<\/div>\n<p>\u4e0a\u8a18\u30b3\u30fc\u30c9\u306b\u3042\u308b\u7a0b\u5ea6\u8aac\u660e\u306f\u5165\u308c\u3066\u3042\u308a\u307e\u3059\u304c\u3001\u4e00\u90e8\u8a73\u7d30\u306b\u89e3\u8aac\u3057\u307e\u3059\u3002<\/p>\n<h6>\u30d8\u30c3\u30c0\u30fc\u30d5\u30a1\u30a4\u30eb\u306e\u30a4\u30f3\u30af\u30eb\u30fc\u30c9<\/h6>\n<p>\u4e0b\u8a18\u753b\u50cf\u90e8\u5206\u304c\u8a72\u5f53\u3057\u307e\u3059\u3002<br \/>\n<img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5.png\" alt=\"\" width=\"565\" height=\"223\" class=\"alignnone size-full wp-image-346239\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5.png 565w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-300x118.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-507x200.png 507w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-426x168.png 426w\" sizes=\"auto, (max-width: 565px) 100vw, 565px\" \/><br \/>\n\u3053\u3061\u3089\u306e\u90e8\u5206\u306b\u95a2\u3057\u3066\u306f\u524d\u8ff0\u306e\u901a\u308a\u3001\u5fc5\u8981\u306a\u60c5\u5831\u3092\u5f15\u7528\u3057\u3066\u3044\u308b\u90e8\u5206\u3067\u3059\u3002<br \/>\n\u3088\u308a\u9ad8\u5ea6\u306a\u3053\u3068\u3092\u3059\u308b\u5834\u5408\u306f\u3055\u3089\u306b\u8ffd\u52a0\u3067\u5fc5\u8981\u306b\u306a\u308a\u307e\u3059\u304c\u3001\u4eca\u56de\u306e\u3088\u3046\u306b\u904b\u52d5\u3055\u305b\u308b\u3060\u3051\u306a\u3089\u3053\u308c\u3067\u5927\u4e08\u592b\u3067\u3059\u3002<\/p>\n<h6>\u30af\u30e9\u30b9\u306e\u5b9a\u7fa9<\/h6>\n<p><strong>\u30ce\u30fc\u30c9\u306e\u4f5c\u6210<\/strong><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/63c39fbfff10608e99ba6892b7ad523e.png\" alt=\"\" width=\"1345\" height=\"713\" class=\"alignnone size-full wp-image-346242\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/63c39fbfff10608e99ba6892b7ad523e.png 1345w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/63c39fbfff10608e99ba6892b7ad523e-300x159.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/63c39fbfff10608e99ba6892b7ad523e-1024x543.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/63c39fbfff10608e99ba6892b7ad523e-768x407.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/63c39fbfff10608e99ba6892b7ad523e-377x200.png 377w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/63c39fbfff10608e99ba6892b7ad523e-426x226.png 426w\" sizes=\"auto, (max-width: 1345px) 100vw, 1345px\" \/><\/p>\n<p>\u3069\u3046\u3044\u3063\u305f\u69cb\u6210\u306e\u30ce\u30fc\u30c9\u306b\u3059\u308b\u304b\u304c\u3053\u3053\u3067\u6c7a\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><strong>class soprt_request : public rclcpp::Node<\/strong>: ROS2\u306e\u30ce\u30fc\u30c9\u3068\u3057\u3066\u6a5f\u80fd\u3059\u308b\u305f\u3081\u306e\u57fa\u790e\u3092\u63d0\u4f9b\u3057\u307e\u3059\u3002<\/p>\n<p><strong>soprt_request() : Node(&#8220;req_sender&#8221;)<\/strong>: \u3053\u306e\u30ce\u30fc\u30c9\u306e\u540d\u524d\u3092<code>req_sender<\/code>\u3068\u6307\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><strong>req_puber<\/strong>: \u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u767a\u884c\u3059\u308b\u305f\u3081\u306e\u30d1\u30d6\u30ea\u30c3\u30b7\u30e3\u30fc\u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001&#8221;\/api\/sport\/request&#8221;\u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u306b\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u9001\u4fe1\u3057\u307e\u3059\u3002\u4eca\u56de\u306e\u69cb\u6210\u3060\u3068sport_client\u3068\u3044\u3046\u30ce\u30fc\u30c9\u304c\u3053\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3092\u53d7\u4fe1\u3057\u3066\u52d5\u4f5c\u3059\u308b\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><strong>timer_<\/strong>: \u30bf\u30a4\u30de\u30fc\u3092\u4f5c\u6210\u3057\u3001<code>dt<\/code>\u3067\u8a2d\u5b9a\u3055\u308c\u305f\u9593\u9694\u3054\u3068\u306b<code>timer_callback<\/code>\u95a2\u6570\u3092\u547c\u3073\u51fa\u3057\u307e\u3059\u3002<code>dt<\/code>\u306f\u5236\u5fa1\u6642\u9593\u30b9\u30c6\u30c3\u30d7\u3067\u3001\u3053\u306e\u5834\u54080.002\u79d2\uff082\u30df\u30ea\u79d2\uff09\u3067\u3059\u3002<\/p>\n<p><strong>timer_callback()<\/strong>: \u3053\u306e\u95a2\u6570\u306f\u3001\u30bf\u30a4\u30de\u30fc\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u6642\u9593\u3054\u3068\u306b\u547c\u3073\u51fa\u3055\u308c\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001<code>sport_req.Move<\/code>\u3092\u4f7f\u3063\u3066\u52d5\u4f5c\u30b3\u30de\u30f3\u30c9\u3092\u8a2d\u5b9a\u3057\u3001\u305d\u308c\u3092<code>req_puber-&gt;publish(req)<\/code>\u3067\u767a\u884c\u3057\u307e\u3059\u3002\u4eca\u56de\u306f<\/p>\n<p><code><unistd.h><cmath>sport_req.Move(req, 0.0, 0.0, 0.2)<\/cmath><\/unistd.h><\/code><\/p>\n<p>\u3068\u3057\u3066\u304a\u308a\u307e\u3059\u3002\u6570\u5b57\u90e8\u5206\u306f\u5de6\u304b\u3089x\u65b9\u5411\u3001y\u65b9\u5411\u3001yaw\u65b9\u5411\u306b\u3069\u308c\u3060\u3051\u52d5\u304b\u3059\u304b\u3092\u6307\u5b9a\u3057\u307e\u3059\u3002<br \/>\n<span style=\"color: #0000ff;\">\u9055\u3046\u52d5\u4f5c\u3092\u3055\u305b\u305f\u3044\u5834\u5408\u306f\u3053\u306e\u90e8\u5206\u3092\u5909\u66f4\u3057\u3001build\u3059\u308c\u3070\u52d5\u4f5c\u3055\u305b\u3089\u308c\u307e\u3059\u3002<\/span><\/p>\n<p>\u4ed6\u306b\u3069\u3046\u3044\u3063\u305f\u30b3\u30de\u30f3\u30c9\u304c\u4f7f\u7528\u3067\u304d\u308b\u304b\u306f&#8221;unitree_ros2\/example\/src\/src\/common\/ros2_sport_client.cpp&#8221;\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<h5>CMakeists.txt\u306e\u7de8\u96c6<\/h5>\n<p>\u4eca\u306e\u307e\u307e\u3060\u3068\u65b0\u3057\u304f\u4f5c\u3063\u305f\u30d7\u30ed\u30b0\u30e9\u30e0\u304cbuild\u3055\u308c\u306a\u3044\u306e\u3067&#8221;CMkaeList.txt&#8221;\u3068\u3044\u3046\u30d5\u30a1\u30a4\u30eb\u3092\u7de8\u96c6\u3057\u307e\u3059\u3002\u3053\u306e\u30d5\u30a1\u30a4\u30eb\u304c\u3069\u306e\u30d7\u30ed\u30b0\u30e9\u30e0\u3092build\u3059\u308b\u304b\u3092\u6c7a\u5b9a\u3057\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-1.png\" alt=\"\" width=\"806\" height=\"540\" class=\"alignnone size-full wp-image-346243\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-1.png 806w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-1-300x201.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-1-768x515.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-1-299x200.png 299w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/29d3bc99193cb0b837fb8cc53f050ae5-1-426x285.png 426w\" sizes=\"auto, (max-width: 806px) 100vw, 806px\" \/><\/p>\n<p>\u3053\u306e\u753b\u50cf\u3092\u53c2\u8003\u306b43.51.62\u884c\u76ee\u3092\u8ffd\u52a0\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff08\u5fc5\u8981\u306b\u5fdc\u3058\u3066\u30d7\u30ed\u30b0\u30e9\u30e0\u540d\u306e\u90e8\u5206\u3092\u5909\u66f4\u3057\u3066\u304f\u3060\u3055\u3044\u3002\uff09<\/p>\n<h5>ROS2\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/h5>\n<p>\u30d5\u30a1\u30a4\u30eb\u306e\u7528\u610f\u304c\u3067\u304d\u305f\u306e\u3067\u3053\u3053\u304b\u3089\u306f\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>sudo apt install ros-foxy-rmw-cyclonedds-cpp\r\nsudo apt install ros-foxy-rosidl-generator-dds-idl\r\nsudo apt install gedit<\/code><\/pre>\n<\/div>\n<p>\u3053\u306e\u30b3\u30de\u30f3\u30c9\u3092\u6253\u3064\u3053\u3068\u3067\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306b\u5fc5\u8981\u306a\u6a5f\u80fd\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>sudo apt install gedit\r\nsudo gedit ~\/.bashrc<\/code><\/pre>\n<\/div>\n<p>\u3059\u3067\u306bROS\uff12\u306e\u74b0\u5883\u304c\u3042\u308b\u5834\u5408\u306f\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u306b\u3066ROS\uff12\u306e\u74b0\u5883\u3092\u52dd\u624b\u306b\u8d77\u52d5\u3055\u305b\u306a\u3044\u3088\u3046\u306b\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<div class=\"hcb_wrap\">\n<pre><code>sudo apt install gedit\r\nsudo gedit ~\/.bashrc<\/code><\/pre>\n<\/div>\n<p>~\u306fROS2\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u305f\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u6307\u3057\u3066\u3044\u307e\u3059\u3002\u4e0a\u8a18\u30b3\u30de\u30f3\u30c9\u3067\u30c6\u30ad\u30b9\u30c8\u7de8\u96c6\u753b\u9762\u306b\u306a\u308a\u307e\u3059\u306e\u3067&#8221;<\/p>\n<pre><span class=\"pl-c\">source \/opt\/ros\/foxy\/setup.bash<\/span><\/pre>\n<p>\u306e\u90e8\u5206\u3092\u63a2\u3057\u3001&#8221;#&#8221;\u3092\u3064\u3051\u308b\u3053\u3068\u3067\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3055\u305b\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<h6>cyclone dds\u306e\u30b3\u30f3\u30d1\u30a4\u30eb<\/h6>\n<p>Unitree\u3000ROS2\u3092\u3057\u3088\u3046\u3059\u308b\u305f\u3081\u306bcyclone dds\u3068\u3044\u3046\u3082\u306e\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3001\u30b3\u30f3\u30d1\u30a4\u30eb\u3068\u306f\u4eba\u304c\u308f\u304b\u308a\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304b\u308c\u305f\u30b3\u30fc\u30c9\u3092\u6a5f\u68b0\u304c\u308f\u304b\u308a\u3084\u3059\u304f\u7ffb\u8a33\u3059\u308b\u307f\u305f\u3044\u306a\u3053\u3068\u3067\u3059\u3002\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3092\u9806\u306b\u5b9f\u884c\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre><code>cd ~\/unitree_ros2\/cyclonedds_ws\/src\r\ngit clone https:\/\/github.com\/ros2\/rmw_cyclonedds -b foxy\r\ngit clone https:\/\/github.com\/eclipse-cyclonedds\/cyclonedds -b releases\/0.10.x \r\ncd ..\r\ncolcon build --packages-select cyclonedds<\/code><\/pre>\n<\/div>\n<p>\u3053\u3053\u3067\u306e~\u306fUnitree\u3000ROS2\u3092gitclone\u3067\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3057\u305f\u5834\u6240\u3067\u3059\u3002<\/p>\n<h6>Unitree\u3000go \u3068unitree api \u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30b3\u30f3\u30d1\u30a4\u30eb<\/h6>\n<p>\u540c\u69d8\u306bunitree_go\u3068unitree_api\u3068\u3044\u3046\u30d1\u30c3\u30b1\u30fc\u30b8\u3092\u30b3\u30f3\u30d1\u30a4\u30eb\u3057\u307e\u3059\u3002\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3067\u3059\u3002<\/p>\n<pre><code>source \/opt\/ros\/foxy\/setup.bash # source ROS2 environment\r\ncolcon build<\/code><\/pre>\n<p>&#8220;colcon build&#8221;\u3068\u3044\u3046\u30b3\u30de\u30f3\u30c9\u3067\u30b3\u30f3\u30d1\u30a4\u30eb\u3055\u308c\u305f\u30b3\u30fc\u30c9\u3092\u5b9f\u884c\u3067\u304d\u308b\u5f62\u5f0f\u306b\u4f5c\u308a\u66ff\u3048\u307e\u3059\u3002<\/p>\n<p>\u5b9f\u884c\u5f8c\u306f\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3067\u6210\u529f\u3057\u305f\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre><code>source ~\/unitree_ros2\/setup.sh\r\nros2 topic list<\/code><\/pre>\n<p>&#8220;source&#8221;\u3068\u3044\u3046\u30b3\u30de\u30f3\u30c9\u3067\u30d3\u30eb\u30c9\u3055\u308c\u305f\u74b0\u5883\u8a2d\u5b9a\u3092\u53d6\u308a\u8fbc\u307f\u3001&#8221;ros2 topic list&#8221;\u3068\u3044\u3046\u30b3\u30de\u30f3\u30c9\u3067\u4eca\u767a\u305b\u3089\u308c\u3066\u3044\u308btopic\u306e\u4e00\u89a7\u304c\u51fa\u307e\u3059\u3002\u4e0b\u306e\u753b\u50cf\u307f\u305f\u3044\u306b\u3044\u3063\u3071\u3044\u3067\u3066\u308c\u3070\u304a\u305d\u3089\u304f\u6210\u529f\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/tt.png\" alt=\"\" width=\"610\" height=\"640\" class=\"alignnone size-full wp-image-346256\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/tt.png 610w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/tt-286x300.png 286w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/tt-191x200.png 191w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2024\/08\/tt-426x447.png 426w\" sizes=\"auto, (max-width: 610px) 100vw, 610px\" \/><\/p>\n<p>\u305d\u306e\u5f8c\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3066\u7121\u4e8b\u52d5\u4f5c\u3059\u308b\u304b\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n<pre><code>.\/install\/unitree_ros2_example\/bin\/read_motion_state <\/code><\/pre>\n<p>\u3053\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067Go2\u306e\u52d5\u4f5c\u72b6\u6cc1\u304c\u306e\u6570\u5024\u304c\u6d41\u308c\u307e\u3059\u3002\u3084\u3081\u308b\u3068\u304d\u306f&#8221;ctrl\u30ad\u30fc+c&#8221;\u3067\u505c\u6b62\u3057\u307e\u3059<\/p>\n<p>\u540c\u69d8\u306b\u3057\u3066<\/p>\n<pre><code>.\/install\/unitree_ros2_example\/bin\/test_move<\/code><\/pre>\n<p>\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u30ed\u30dc\u30c3\u30c8\u304c\u56de\u8ee2\u3059\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n<p>\u8a70\u307e\u3063\u305f\u5834\u5408\u3001\u4e0b\u8a18\u8a18\u4e8b\u306eROS2\u306e\u90e8\u5206\u3082\u3054\u53c2\u8003\u304f\u3060\u3055\u3044\u3002<br \/>\n<a href=\"https:\/\/techshare.co.jp\/faq\/unitree\/unitree-go2_pc_lan.html\">\u3010Unitree Go2\u3011SDK or ROS\u3092\u4f7f\u3046\u65b9\u6cd5 \u2013 TechShare FAQ<\/a><\/p>\n<h4><span id=\"5\"><span id=\"&quot;unsolved\">5. \u304a\u308f\u308a\u306b<\/span><\/span><\/h4>\n<hr \/>\n<p>\u672c\u8a18\u4e8b\u306f\u7b46\u8005\u306e\u5099\u5fd8\u9332\u306e\u5074\u9762\u3082\u3054\u3056\u3044\u307e\u3059\u3002\u308f\u304b\u308a\u305a\u3089\u3044\u70b9\u3084\u9593\u9055\u3044\u304c\u3042\u3063\u305f\u969b\u306f\u30b3\u30e1\u30f3\u30c8\u307e\u3067\u304a\u9858\u3044\u3057\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>&nbsp; 1. \u306f\u3058\u3081\u306b Unitree Go2\u306f\u4e8c\u6b21\u958b\u767a\u53ef\u80fd\u306a\u88fd\u54c1\u3068\u3057\u3066\u5f0a\u793e\u3067\u3082\u53d6\u308a\u6271\u3063\u3066\u3044\u308b\u30e2\u30c7\u30eb\u3067\u306f\u3054\u3056\u3044\u307e\u3059\u304c\u3001\u5b9f\u969b\u306b\u4e8c\u6b21\u958b\u767a\u3092\u884c\u3046\u3068\u3057\u3066\u3001\u77e5\u8b58\u306e\u306a\u3044\u65b9\u304b\u3089\u3059\u308b\u3068\u969c\u5bb3\u304c\u591a\u3044\u3068\u601d\u308f\u308c\u307e\u3059\u3002\u672c\u8a18\u4e8b\u3067\u306f\u305d\u3093\u306a\u65b9\u3092\u5bfe &hellip;<\/p>\n","protected":false},"author":22,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,26],"tags":[],"class_list":["post-346113","post","type-post","status-publish","format-standard","hentry","category-go2","category-unitree"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346113","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/22"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=346113"}],"version-history":[{"count":12,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346113\/revisions"}],"predecessor-version":[{"id":347465,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/346113\/revisions\/347465"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=346113"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=346113"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=346113"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}